mypy: enable --warn-unreachable (#24282)

* Optional solves mypy assuming None is always None

* oops

* spaces

* Update registration.py

* fix local error

Co-authored-by: Willem Melching <willem.melching@gmail.com>

.pre-commit-config.yaml

@@ -22,6 +22,8 @@ repos:
         exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
         additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
                                   'types-pycurl']
+        args:
+        - --warn-unreachable
 -   repo: https://github.com/PyCQA/flake8
     rev: 4.0.1
     hooks:

selfdrive/athena/registration.py

@@ -3,6 +3,7 @@ import time
 import json
 import jwt
 from pathlib import Path
+from typing import Optional
 
 from datetime import datetime, timedelta
 from common.api import api_get
@@ -48,7 +49,8 @@ def register(show_spinner=False) -> str:
     # Block until we get the imei
     serial = HARDWARE.get_serial()
     start_time = time.monotonic()
-    imei1, imei2 = None, None
+    imei1: Optional[str] = None
+    imei2: Optional[str] = None
     while imei1 is None and imei2 is None:
       try:
         imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1)

selfdrive/debug/internal/measure_modeld_packet_drop.py

@@ -1,11 +1,12 @@
 #!/usr/bin/env python3
 import cereal.messaging as messaging
+from typing import Optional
 
 if __name__ == "__main__":
   modeld_sock = messaging.sub_sock("modelV2")
 
   last_frame_id = None
-  start_t = None
+  start_t: Optional[int] = None
   frame_cnt = 0
   dropped = 0
 

selfdrive/debug/live_cpu_and_temp.py

@@ -1,9 +1,10 @@
 #!/usr/bin/env python3
 import argparse
+import capnp
 
 from cereal.messaging import SubMaster
 from common.numpy_fast import mean
-
+from typing import Optional
 
 def cputime_total(ct):
   return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq
@@ -40,8 +41,8 @@ if __name__ == "__main__":
   total_times = [0.]*8
   busy_times = [0.]*8
 
-  prev_proclog = None
+  prev_proclog: Optional[capnp._DynamicStructReader] = None
-  prev_proclog_t = None
+  prev_proclog_t: Optional[int] = None
 
   while True:
     sm.update()
@@ -73,7 +74,7 @@ if __name__ == "__main__":
 
       print(f"CPU {100.0 * mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C")
 
-      if args.cpu and prev_proclog is not None:
+      if args.cpu and prev_proclog is not None and prev_proclog_t is not None:
         procs = {}
         dt = (sm.logMonoTime['procLog'] - prev_proclog_t) / 1e9
         for proc in m.procs:

selfdrive/hardware/base.py

@@ -44,7 +44,7 @@ class HardwareBase(ABC):
     pass
 
   @abstractmethod
-  def get_imei(self, slot):
+  def get_imei(self, slot) -> str:
     pass
 
   @abstractmethod

selfdrive/manager/build.py

@@ -29,7 +29,7 @@ def build(spinner: Spinner, dirty: bool = False) -> None:
   j_flag = "" if nproc is None else f"-j{nproc - 1}"
 
   for retry in [True, False]:
-    scons = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
+    scons: subprocess.Popen = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
     assert scons.stderr is not None
 
     compile_output = []

selfdrive/manager/process.py

@@ -78,7 +78,7 @@ class ManagerProcess(ABC):
   name = ""
 
   last_watchdog_time = 0
-  watchdog_max_dt = None
+  watchdog_max_dt: Optional[int] = None
   watchdog_seen = False
   shutting_down = False
 

tools/replay/can_replay.py

@@ -83,7 +83,7 @@ def connect():
 
 if __name__ == "__main__":
   if PandaJungle is None:
-    print("\33[31m", "WARNING: cannot connect to jungles. Clone the jungle library to enable support:", "\033[0m")
+    print("\33[31m", "WARNING: cannot connect to jungles. Clone the jungle library to enable support:", "\033[0m")  # type: ignore
     print("\033[34m", f"cd {BASEDIR} && git clone https://github.com/commaai/panda_jungle", "\033[0m")
 
   print("Loading log...")

tools/sim/bridge.py

@@ -489,7 +489,6 @@ if __name__ == "__main__":
     # start input poll for joystick
     from lib.manual_ctrl import wheel_poll_thread
     wheel_poll_thread(q)
-    p.join()
   else:
     # start input poll for keyboard
     from lib.keyboard_ctrl import keyboard_poll_thread